text: import gym, assistive_gym
  import pybullet as p
  import numpy as np
  import os
  from stable_baselines3 import PPO
  
  env = gym.make("ScratchItchJacoHuman-v1")
  model = PPO.load("model/model_400000_steps")
  success_arr = []
  for j in range(100):
      print(j)
      obs = env.reset()
      for i in range(200):
          act = model.predict([obs])[0]
          obs, rew, done, info  = env.step(act[0])
      print(info)
      success_arr.append(info["human"]["task_sucess_value"])
  np.savetxt("general.dat", success_arr)
  